Robot system, liquid transfer controller, liquid transfer control method, and medicine manufacturing method

ABSTRACT

A robot system includes a multi-jointed robot, a syringe actuator which pulls and pushes a plunger of a syringe having a needle, and the controller which controls the multi-jointed robot to handle a vial and the syringe and controls the syringe actuator. The controller includes a first control module which controls the multi-jointed robot such that the needle of the syringe punctures a cap of the vessel, a second control module which controls the syringe actuator such that a liquid in the vessel is absorbed through the needle by pulling the plunger after the first control module controls the multi-jointed robot, and a third control module which controls the multi-jointed robot such that the needle is inclined with respect to the cap of the vessel by changing an orientation of at least one of the vessel and the syringe after the first control module controls the multi-jointed robot.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority fromJapanese Patent Application No. 2014-043165, filed Mar. 5, 2014, theentire contents of which are incorporated herein by reference.

BACKGROUND

1. Field

The present disclosure relates to a robot system, a liquid transfercontroller, a liquid transfer control method, and a medicinemanufacturing method.

2. Disclosure of the Related Art

WO 2008/058280 A discloses an apparatus which automates fluid transferwork.

SUMMARY

The robot system according to one aspect of the disclosure includes amulti-jointed robot; a syringe actuator configured to pull and push aplunger of a syringe having a needle, and a controller configured tocontrol the multi-jointed robot to handle a vessel storing a liquid andthe syringe and to control the syringe actuator. The controllerperforms: (A) control of the multi-jointed robot such that the needle ofthe syringe punctures a cap of the vessel; after the control describedin A, (B) control of the syringe actuator such that a liquid in thevessel is absorbed through the needle by pulling the plunger; and afterthe control described in A, (C) control of the multi-jointed robot suchthat the needle is inclined with respect to the cap of the vessel bychanging an orientation of at least one of the vessel and the syringe.

The liquid transfer controller according to another aspect of thedisclosure controls a multi-jointed robot and a syringe actuatorconfigured to pull and push a plunger of a syringe having a needle. Theliquid transfer controller includes: a first control module configuredto control the multi-jointed robot such that the needle of the syringepunctures a cap of a vessel storing a liquid; a second control moduleconfigured to operate the syringe actuator such that the liquid in thevessel is absorbed through the needle by pulling the plunger after thefirst control module controls the multi-jointed robot; and a thirdcontrol module configured to operate the multi-jointed robot such thatthe needle is inclined with respect to the cap of the vessel by changingan orientation of at least one of the vessel and the syringe after thefirst control module controls the multi-jointed robot.

The liquid transfer control method according to another aspect of thedisclosure controls a multi-jointed robot and a syringe actuatorconfigured to pull and push a plunger of a syringe having a needle. Theliquid transfer control method includes: (A) controlling themulti-jointed robot such that the needle of the syringe punctures a capof a vessel storing a liquid; after the control described in A, (B)controlling the syringe actuator such that the liquid in the vessel isabsorbed through the needle by pulling the plunger; and after thecontrol described in A, (C) controlling the multi-jointed robot suchthat the needle is inclined with respect to the cap of the vessel bychanging an orientation of at least one of the vessel and the syringe.

The medicine manufacturing method according to another aspect of thedisclosure controls a multi-jointed robot and a syringe actuatorconfigured to pull and push a plunger of a syringe having a needle. Themedicine manufacturing method includes: (A) controlling themulti-jointed robot such that the needle of the syringe punctures a capof a first vessel storing a first raw liquid of the medicine; after thecontrol described in A, (B) controlling the syringe actuator such that aliquid in the first vessel is absorbed through the needle by pulling theplunger; after the control described in A, (C) controlling themulti-jointed robot such that the needle is inclined with respect to thecap of the first vessel by changing an orientation of at least one ofthe first vessel and the syringe; and after the control described in Band C, (D) controlling the multi-jointed robot such that the needle isremoved from the first vessel and the needle punctures the second vesselto inject the first raw liquid in the syringe into a second vesselstoring a second raw liquid of the medicine.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top view illustrating the outline of a medicinemanufacturing system according to a first embodiment.

FIG. 2 is a front view illustrating the outline of the medicinemanufacturing system according to the first embodiment.

FIG. 3 is a perspective view of a syringe actuator.

FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 3.

FIG. 5 is an enlarged view of a holding plate and a gripper.

FIG. 6 is an enlarged view of the holding plate and the gripper.

FIG. 7 is a perspective view illustrating a state where a vial and asyringe are mounted in the syringe actuator of FIG. 3.

FIG. 8 is a perspective view illustrating a state where a needle of thesyringe punctures the vial in FIG. 7.

FIG. 9 is a perspective view illustrating a state where a plunger of thesyringe is pulled in FIG. 7.

FIG. 10 is a perspective view illustrating a state where a rotation unitis rotated in FIG. 8.

FIG. 11 is a cross-sectional view illustrating a state where the stateof a lock mechanism in FIG. 4 is switched from a regulating state to anallowing state.

FIG. 12 is a block diagram illustrating a hardware configuration of themedicine manufacturing system.

FIG. 13 is a block diagram illustrating a hardware configuration of PLC.

FIG. 14 is a block diagram illustrating a mechanical configuration of acontroller.

FIG. 15 is a flowchart of a medicine manufacturing method.

FIG. 16 illustrates a diagram for describing the transfer of fluid instates (a) to (i).

FIG. 17 is a flowchart of the medicine manufacturing method.

FIG. 18 is a diagram for describing the transfer of fluid in states (a)to (e).

FIG. 19 is a diagram illustrating states of the vial and the syringeafter an orientation is changed.

FIG. 20 is a block diagram illustrating a mechanical configuration ofthe controller.

DETAILED DESCRIPTION

Hereinafter, embodiments will be described in detail with reference tothe drawings. In the description, the same elements or the elementshaving the same function will be denoted with the same symbols, and thedescriptions thereof will not be repeated.

First Embodiment Medicine Manufacturing System

As illustrated in FIGS. 1 and 2, a medicine manufacturing system 1 (arobot system) mixes a plurality of raw medicines to manufacture amedicine such as an anticancer agent for example. The medicinemanufacturing system 1 includes a fluid transfer apparatus 10, acontroller 100, an image processing apparatus 200, and a managementcomputer 300. The medicine manufacturing system 1 serves as a fluidtransfer system 1A which transfers a fluid in process of manufacturing amedicine. A transfer target fluid may be a liquid, or may be a gas.

The fluid transfer apparatus 10 includes a work table 2, a multi-jointedrobot 20, a syringe actuator 30, metering apparatuses 11A and 11B, anagitating apparatus 12, and cameras 13A, 13B, and 13C. The work table 2supports the respective apparatuses forming the medicine manufacturingsystem 1. The work table 2, for example, is formed in a rectangular andplanar shape. “Front,” “rear,” “right,” and “left” in the followingdescription are used to mean a direction such that a long side of thework table 2 is a front side and another long side is a rear side.

The upper space of the work table 2 is separated from the external spaceby a side wall 3 and a tabletop 4. At the corner on the left front sideof the work table 2, a port 5 is provided to carry in and out a workobject through the side wall 3. The work object, for example, is a tray14 in which a liquid medicine bag 15, a plurality of vials 16, and asyringe 17 are placed.

The liquid medicine bag 15 is a vessel (a second vessel for a medicine)which contains a medicine. The liquid medicine bag 15, for example,includes a block material and a bag which is held in the block material.

The vial 16 is a vessel (a first vessel) which contains a raw medicine.The vial 16 includes a bottle 16 a and a cap 16 c (see FIGS. 7 to 9).The bottle 16 a includes a narrowed mouth 16 b, and contains a rawmedicine. The cap 16 c closes the mouth 16 b. At least the centerportion of the cap 16 c is made of a material (for example, a rubbermaterial) which can be punctured by a needle.

The syringe 17 includes a cylinder body 17 a, a plunger 17 c, and aneedle 17 e which is provided in a tip portion of the cylinder body 17 a(see FIGS. 7 to 9). A flange 17 b is formed in an outer peripheral of abase portion of the cylinder body 17 a. A flange 17 d is formed in anouter peripheral of the base portion of the plunger 17 c. The tipportion of the needle 17 e has a tilted surface TS which is inclinedwith respect to an extending direction of the needle. With thisconfiguration, the tip portion of the needle 17 e is formed to have ataper shape. Therefore, a puncture target (the center portion of the cap16 c in this embodiment) is easily punctured by the needle 17 e.

The multi-jointed robot 20 is provided on the work table 2. Themulti-jointed robot 20 is a double-arm robot which includes a body part21 and two multi-jointed arms 22A and 22B. The multi-jointed robot 20can perform various types of work including transfer of the liquidmedicine bag 15, the vial 16, and the syringe 17. The body part 21 isfixed on the work table 2. The body part 21 is positioned near thecenter of the work table 2 in a right and left direction, and shifted tothe read side of the work table 2 in a front and rear direction. Themulti-jointed arm 22A is provided on the left side of the body part 21.The multi-jointed arm 22B is provided on the right side of the body part21.

Each of the multi-jointed arms 22A and 22B includes a gripper 23, awrist portion 24, and a limb portion 25. The gripper 23 includes a pairof finger portions 23 a and 23 b. The gripper 23 grips the liquidmedicine bag 15, the vial 16, or the syringe 17 by opening or closingthe finger portions 23 a and 23 b. The wrist portion 24 holds thegripper 23, and rotates the gripper 23 about a rotation center Ax1according to the supply of energy such as electric power. The limbportion 25 is interposed between the body part 21 and the wrist portion24. The limb portion 25, for example, is a multi-jointed serial linkmechanical. The limb portion 25 moves the wrist portion 24 according tothe supply of energy such as electric power.

As illustrated in FIGS. 3 and 4, the syringe actuator 30 includes arotation mechanism 40 and a rotation unit 50. The rotation mechanism 40is supported by a stationary plate 31 fixed on the work table 2 and asupporting post 32 erected on the stationary plate 31. The stationaryplate 31 is positioned on the right front side of the multi-jointedrobot 20. The arrangement is not essential but only an example.

The rotation mechanism 40 includes a case 41 and a rotation shaft 42.The case 41 includes walls 41 a and 41 b facing to each other in thehorizontal direction and a space 41 c partitioned by the walls 41 a and41 b. The wall 41 a faces the multi-jointed robot 20. The rotation shaft42 is formed to pass through the wall 41 a, and freely rotates about arotation center Ax2. One end (hereinafter, referred to as an “outerend”) of the rotation shaft 42 is exposed toward the multi-jointed robot20. The other end (hereinafter, referred to as an “inner end”) of therotation shaft 42 is positioned in the space 41 c.

The rotation unit 50 includes a base plate 51, holding plates 52 and 53,a partitioning plate 54, and a linear actuator 60. The base plate 51 isformed in a lengthy planar shape, and is fixed to the outer end of therotation shaft 42 in a state where the base plate 51 is perpendicular tothe rotation center Ax2.

The holding plates 52 and 53 protrude toward the multi-jointed robot 20from the surface (the surface on a side near the multi-jointed robot 20)of the base plate 51 in a state where these plates face to each other inthe width direction of the base plate 51.

In the inner surface (the surface on a side near the holding plate 53)of the holding plate 52, an engaging groove 52 a is formed along therotation center Ax2. One end of the engaging groove 52 a is open towardthe multi-jointed robot 20. In the inner surface (the surface on a sidenear the holding plate 52) of the holding plate 53, an engaging groove53 a facing the engaging groove 52 a is formed. The engaging groove 53 ais also extended along the rotation center Ax2. One end of the engaginggroove 53 a is open toward the multi-jointed robot 20.

The engaging grooves 52 a and 53 a are used as an engaging portion to beengaged with the gripper 23. Specifically, the finger portions 23 a and23 b of the gripper 23 are inserted between the holding plates 52 and53, and disposed to correspond to the engaging grooves 52 a and 53 a,respectively (see FIG. 5). In this state, the finger portions 23 a and23 b are separated from each other, and engaged with the engaginggrooves 52 a and 53 a, respectively (see FIG. 6). In a state where thefinger portions 23 a and 23 b and the engaging grooves 52 a and 53 a areengaged to each other, the rotation center Ax1 of the gripper 23 and therotation center Ax2 of the rotation mechanism 40 are matched (see FIG.4). In other words, the engaging grooves 52 a and 53 a are configured tobe engaged with the gripper 23 in a state where the rotation center Ax1of the gripper 23 and the rotation center Ax2 of the rotation mechanism40 are matched.

The partitioning plate 54 is formed in a planar shape. The partitioningplate 54 is fixed between the holding plates 52 and 53 in parallel withthe base plate 51. The partitioning plate 54 is extended downwardly froma portion between the holding plates 52 and 53. The partitioning plate54 partitions the portion between the holding plates 52 and 53 into thespace on a side near the base plate 51 and the space on a side near themulti-jointed robot 20.

On one end side of the base plate 51, a flange holding member 55 of aplanar shape is suspended on the holding plates 52 and 53. The flangeholding member 55 is shifted toward the multi-jointed robot 20 on theholding plates 52 and 53. In the flange holding member 55, the notch 55a is formed. The notch 55 a is formed in a U shape which is open towardthe multi-jointed robot 20. In the side surface of the notch 55 a, agroove 55 b is formed to be extended along the U shape. The groove 55 bis open toward the multi-jointed robot 20 in both U-shape end portions.

The holding plates 52 and 53 and the flange holding member 55 are usedto hold the cylinder body 17 a of the syringe 17. In other word, theholding plates 52 and 53 and the flange holding member 55 form acylinder body holder 33 which holds the cylinder body 17 a of thesyringe 17. Specifically, the syringe 17 is put between the holdingplates 52 and 53 from the side of the multi-jointed robot 20 in a statewhere the tip portion of the cylinder body 17 a faces the opposite sideof the flange holding member 55 (see FIG. 7). At this time, the flange17 b of the cylinder body 17 a is fitted to the groove 55 b. Therefore,the cylinder body 17 a is held.

A rail 56 is provided in the surface (the surface on a side near themulti-jointed robot 20) of the partitioning plate 54. The rail 56 ispositioned in the center in the width direction of the partitioningplate 54, and extended in a lengthwise direction of the partitioningplate 54.

On the rail 56, a holding plate 57 bent in an L shape is attached. Inthe holding plate 57, the plate portion forming a part of the L shape isdisposed to face the surface of the partitioning plate 54. The plateportion can be configured to move along the rail 56. The plate portion,for example, is attracted to the surface of the partitioning plate 54 bya magnetic force (an attractive force) generated between thepartitioning plate 54 and the holding plate 57. The holding plate 57 isfixed by a frictional force with respect to the partitioning plate 54,but the holding plate 57 can be shifted from its position in a directionalong the rail 56 by applying an external force exceeding the frictionalforce to the holding plate 57. In the holding plate 57, the other plateportion forming the L shape is positioned on the opposite side of theflange holding member 55. The plate portion protrudes toward themulti-jointed robot 20. In the plate portion protruding toward themulti-jointed robot 20, the U-shaped notch 57 a is formed to be opentoward the multi-jointed robot 20.

The notch 57 a is used to hold the vial 16. In other words, the holdingplate 57 is configured to form a vial holding portion 34 which holds thevial 16. Specifically, in a state where the cap 16 c is disposed on aside near the flange holding member 55 and the bottle 16 a is disposedon a side opposite to the flange holding member 55, the mouth 16 b isfitted into the notch 57 a (see FIG. 7). The vial 16 is held such that aperipheral edge portion of the notch 57 a is fitted to the narrowportion of the mouth 16 b. As described above, it is possible to shiftthe position of the holding plate 57 in a direction along the rail 56 byapplying a force against the frictional force between the holding plate57 and the partitioning plate 54 to the holding plate 57. Therefore, itis possible to shift the position of the vial 16 together with theholding plate 57, and the needle 17 e can be punctured or removed withrespect to the cap 16 c (see FIG. 8). In addition, it is possible toadjust an inserting length of the needle 17 e with respect to the cap 16c.

The linear actuator 60 is formed in a lengthy shape. The linear actuator60 includes the slide block 61 which is movable along the lengthwisedirection. The linear actuator 60 is disposed along the base plate 51between the base plate 51 and the partitioning plate 54. The linearactuator 60 is fixed to the base plate 51. The slide block 61 isdisposed on a side near the multi-jointed robot 20.

The slide block 61 is provided with a flange holding member 62 whichprotrudes toward the multi-jointed robot 20. The flange holding member62 faces the outside surface (the surface on a side opposite to theholding plates 52 and 53) of the flange holding member 55. A concaveportion 62 a is formed in the surface on a side near the flange holdingmember 55 of the flange holding member 62. The concave portion 62 a isformed at a position corresponding to the notch 55 a, and is formed inthe U shape which is open toward the multi-jointed robot 20. In the sidesurface of the concave portion 62 a, a groove 62 b is formed to beextended along the U shape. The groove 62 b is open toward themulti-jointed robot 20 on both end sides of the U shape.

The flange holding member 62 is used to hold the plunger 17 c of thesyringe 17. Specifically, when the flange 17 b of the cylinder body 17 ais fitted to the groove 55 b, the flange 17 d of the plunger 17 c isfitted to the groove 62 b. With this configuration, the plunger 17 c isheld. The linear actuator 60 moves the slide block 61 in a state wherethe plunger 17 c is held in the flange holding member 62 (see FIG. 9).With this configuration, the plunger 17 c is pulled and pushed. In otherwords, the linear actuator 60 serves as a driving portion 35 which pullsand pushes the plunger 17 c of the syringe 17.

Therefore, the cylinder body holder 33, the vial holding portion 34, andthe driving portion 35 are provided in the rotation unit 50. Asdescribed above, since the base plate 51 of the rotation unit 50 isfixed to the rotation shaft 42 of the rotation mechanism 40, therotation unit 50 is freely rotated together with the rotation shaft 42(see FIG. 10). In a state where the cylinder body 17 a of the syringe 17is held by the cylinder body holder 33, the rotation center Ax2 of therotation shaft 42 is perpendicular to a center axial line CL of thesyringe 17 (see FIGS. 7 to 9). In other words, the rotation mechanism 40serves to freely rotate the cylinder body holder 33, the vial holdingportion 34, and the driving portion 35 about the axial lineperpendicular to the center axial line CL. With this rotation, it ispossible to reverse a vertical relation between the vial 16 and thesyringe 17. Further, the perpendicular arrangement is not essential, butat least the rotation center Ax2 and the center axial line CL mayintersect.

A lock mechanism 70 which switches an allowing state for allowing therotation of the rotation shaft 42 and a regulating state for regulatingthe rotation of the rotation shaft 42 is provided in the space 41 c inthe rotation mechanism 40 (see FIGS. 4 and 11). In other words, the lockmechanism 70 switches the allowing state for allowing the rotation ofthe rotation unit 50 (the cylinder body holder 33, the vial holdingportion 34, and the driving portion 35) and the regulating state forregulating the rotation of these components.

The lock mechanism 70 includes lock plates 71 and 72 and an elasticmember 74. The lock plate 71 includes a center hole 71 a which passesthrough the rotation shaft 42. The lock plate 71 is fixed to the wall 41a. In the lock plate 71, a plurality of lock holes 71 b are formed to bedisposed to surround the center hole 71 a. The lock plate 72 is fixed toan outer peripheral of the rotation shaft 42 between the lock plate 71and the wall 41 b. The lock plate 72 faces the lock plate 71. In thelock plate 72, a plurality of lock pins 73 are inserted and fixed (seeFIG. 4). These lock pins 73 surround the rotation shaft 42 and protrudetoward each lock plate 71. The elastic member 74, for example, is a coilspring. The elastic member 74 is disposed in a compressed state betweenthe lock plate 72 and the wall 41 b. Further, the elastic member 74 isnot limited to the coil spring, and may be a plate spring for example.

The lock plate 72 is pushed to the lock plate 71 by a repulsive force ofthe elastic member 74, and the lock pins 73 are fitted in the lock hole71 b. With this configuration, a relational rotation between the lockplate 71 and the lock plate 72 is regulated. In other words, when therotation unit 50 moves away from the rotation mechanism 40 by therepulsive force of the elastic member 74, it enters the regulatingstate. When the rotation shaft 42 is pushed into the case 41 against therepulsive force of the elastic member 74, the lock plate 72 moves awayfrom the lock plate 71, and the lock pins 73 go out of the lock plate 71(see FIG. 11). With this configuration, the lock plate 71 and the lockplate 72 rotate freely to each other. In other words, when the rotationunit 50 approaches the rotation mechanism 40 against the repulsive forceof the elastic member 74, it enters the allowing state. With thisconfiguration, the lock mechanism 70 is switched between the allowingstate and the regulating state according to the movement of the rotationunit 50 along the rotation center Ax2 of the rotation mechanism 40.

The metering apparatuses 11A and 11B illustrated in FIGS. 1 and 2, forexample, are electronic force balances. The metering apparatus 11A, forexample, is disposed on the left front side of the body part 21. Themetering apparatus 11A is used to meter the liquid medicine bag 15 orthe vial 16. The metering apparatus 11B, for example, is disposed on thefront side of the body part 21. The metering apparatus 11B is used tometer the syringe 17.

The agitating apparatus 12, for example, is an apparatus to agitatecontents by adding oscillation to the vial 16 (see FIG. 1). Further, amethod of agitating the contents of the vial 16 is not limited to theoscillation method.

The cameras 13A and 13B, for example, are disposed on the right side andthe upper side of the metering apparatus 11B, respectively. The cameras13A and 13B take images of the syringe 17 which is provided on themetering apparatus 11B (see FIGS. 1 and 2). The images taken by thecameras 13A and 13B are used for an image process of the imageprocessing apparatus 200. The camera 13C is disposed in the upperportion in the side wall 3. The camera 13C takes an image of a work areaof the multi-jointed robot 20 (see FIG. 2). The image taken by thecamera 13C is used to record a work execution state of the multi-jointedrobot 20.

The controller 100 performs control of the multi-jointed robot 20 andthe syringe actuator 30. The image processing apparatus 200, forexample, performs an image process of recognizing a direction of thesurface of the tip portion (the tilted surface TS of the needle tip) ofthe needle 17 e using the images taken by the cameras 13A and 13B. Themanagement computer 300, for example, generates a control pattern of themulti-jointed robot 20 and the syringe actuator 30 according to the typeof a manufacturing medicine, and transmits the control pattern to thecontroller 100. In addition, the management computer 300 records themetering results of the metering apparatuses 11A and 11B, the imagetaken by the camera 13C, and the like as an execution history of amedicine manufacturing process. Further, the controller 100, the imageprocessing apparatus 200, and the management computer 300 are notnecessarily separated from each other, but may be integrally formed.

According to the fluid transfer system 1A, as described below, transferwork of the fluid from the vial 16 to the syringe 17 can be automated byappropriately combining control of the multi-jointed robot 20 such thatthe cylinder body 17 a of the syringe 17 is held in the cylinder bodyholder 33 and the needle 17 e of the syringe 17 punctures the vial 16,control of the syringe actuator 30 so as to pull out the plunger 17 c,and control of the multi-jointed robot 20 such that the syringe 17 andthe vial 16 are adjusted in arrangement by rotating the rotation unit50.

The multi-jointed robot 20 can perform a plurality types of worktogether with the transfer work of the fluid. It is possible to suppressan increase in size of a facility (the medicine manufacturing system 1)by causing the multi-jointed robot 20 to perform the plurality types ofwork. In the transfer work of the fluid, since the pulling and pushingof the plunger 17 c is performed by the syringe actuator 30, there is noneed to provide the driving portion in the multi-jointed robot 20 forthe pulling and pushing of the plunger 17 c. Therefore, an end effector(the gripper 23) of the multi-jointed robot 20 can be made small insize. Through the miniaturization of the end effector, it is possible tosuppress an increase in size of a work space of the multi-jointed robot20. On the other hand, it is possible to miniaturize the syringeactuator 30 by adapting it to specialize in pulling and pushing theplunger 17 c, and curb any size increase in the space required toinstall. Therefore, the fluid transfer work can be automated whilesuppressing an increase in size of the facility.

The rotation mechanism 40 includes the lock mechanism 70 which switchesthe allowing state for allowing the rotation of the rotation unit 50 andthe regulating state for regulating the rotation of the rotation unit50. Therefore, the arrangement of the syringe 17 and the vial 16 can bestabilized and an accuracy of the fluid transfer work can be improved bysetting the lock mechanism 70 to the regulating state except during aperiod when the rotation unit 50 is rotated by the multi-jointed robot20. However, the lock mechanism 70 is not essential.

The lock mechanism 70 switches the allowing state and the regulatingstate according to the movement of the rotation unit 50 along therotation center Ax2 of the rotation mechanism 40. Therefore, theallowing state and the regulating state can be easily switched using themulti-jointed robot 20. Specifically, the allowing state and theregulating state can be switched only by controlling the multi-jointedrobot 20 such that the rotation unit 50 moves along the rotation centerAx2. The lock mechanism 70 can be made small by utilizing themulti-jointed robot 20 even in switching the allowing state and theregulating state. However, it is not essential that the lock mechanism70 is configured to switch the allowing state and the regulating stateaccording to the movement of the rotation unit 50 along the rotationcenter Ax2 of the rotation mechanism 40.

The rotation mechanism 40 includes the engaging grooves 52 a and 53 awhich are engaged with the gripper 23 in a state where the rotationcenter Ax1 of the gripper 23 and the rotation center Ax2 of the rotationmechanism 40 are matched. Therefore, the rotation unit 50 can be rotatedby rotating the gripper 23 after the gripper 23 is engaged with theengaging grooves 52 a and 53 a. Since the rotation unit 50 can berotated only by one axis for rotating the gripper 23, control of themulti-jointed robot 20 can be simplified. In addition, it is possible toreduce the work space of the multi-jointed robot 20 which is necessaryfor rotating the rotation unit 50. However, the engaging grooves 52 aand 53 a are not essential.

The multi-jointed robot 20 is the double-arm robot which includes twomulti-jointed arms 22A and 22B. With this configuration, more varioustypes of work can be performed by the multi-jointed robot 20. Therefore,since the apparatuses other than the multi-jointed robot 20 can beeliminated while making the multi-jointed robot 20 used in the varioustypes of work, it is possible to more suppress an increase in size ofthe facility. However, it is not essential that the multi-jointed robotis a double-arm type.

Further, the lock mechanism 70 may switch the allowing state and theregulating state by an electromagnetic brake.

The syringe actuator 30 may have no vial holding portion 34. In thiscase, the vial 16 is necessarily held by any one of the multi-jointedarms 22A and 22B instead of the vial holding portion 34. In addition,when the vertical relation between the vial 16 and the syringe 17 isreversed, the multi-jointed robot 20 is necessarily controlled to makethe vial 16 follow the rotation of the rotation unit 50.

The syringe actuator may be provided in the gripper 23. In this case,since the orientation of the syringe 17 can be freely adjusted bychanging the orientation of the gripper 23, the configurationcorresponding to the rotation mechanism 40 can be eliminated.

The controller 100 may control any one of the multi-jointed arms 22A and22B as the syringe actuator. In this case, since the apparatuses otherthan the multi-jointed robot 20 can be more eliminated, it is possibleto more suppress an increase in size of the facility.

(Controller)

Hereinafter, the controller 100 will be described in detail. Asillustrated in FIG. 12, the controller 100 includes a PLC 110, amulti-shaft driver 120, and single-shaft drivers 131, 132, and 133. Themulti-shaft driver 120 controls all the actuators for the transfer ofthe wrist portion 24 and the rotation of the gripper 23. Each of thesingle-shaft drivers 131 and 132 controls the actuator to open or closethe finger portions 23 a and 23 b of the gripper 23. The single-shaftdriver 133 controls the linear actuator 60 of the syringe actuator 30.

The PLC 110 controls the multi-jointed robot 20 and the syringe actuator30 through the multi-shaft driver 120 and the single-shaft drivers 131,132, and 133. In addition, the PLC 110 performs control (for example,turning on/off the switching) of the agitating apparatus 12 insynchronization with control of the multi-jointed robot 20. Furthermore,the PLC 110 acquires metering results of the metering apparatuses 11Aand 11B or an image processing result of the image processing apparatus200 in synchronization with control of the multi-jointed robot 20, andtransmits the results to the management computer 300.

As illustrated in FIG. 13, the PLC 110, for example, includes aprocessor 111, a memory 112, an input/output portion 113, a storage 114,and a bus 115 which connects these components to each other. Theprocessor 111 executes a program in cooperation with at least any one ofthe memory 112 and the storage 114, and inputs/outputs data through theinput/output portion 113 according to the execution result. Therefore,various functions of the controller 100 are realized. FIG. 14illustrates these functions as virtual blocks (hereinafter, referred toas “functional blocks”).

As illustrated in FIG. 14, the controller 100 includes an agitationcontrol module U1, an arrangement control module U2, a metering controlmodule U3, a puncture control module U4, a removal control module U5, areverse control module U6, an intake gas control module U7, a pressurereducing control module U8, a suction control module U9, an gas supplycontrol module U10, and an injection control module U1 as the functionalblocks. These functional blocks are merely plural blocks obtained bypartitioning the function of the controller 100 for convenience sake,but it does not mean that the hardware of the controller 100 is dividedinto such blocks. In addition, it is not limited that the respectivefunctional blocks are realized by executing the program, but each blockmay be realized by a dedicated electrical circuit (for example, alogical circuit).

The agitation control module U1 controls the multi-jointed robot 20 suchthat the vial 16 is transferred onto the agitating apparatus 12, andcontrols the agitating apparatus 12 such that the vial 16 is oscillated.

The arrangement control module U2 transfers at least one of the liquidmedicine bag 15, the vial 16, and the syringe 17, and controls themulti-jointed robot 20 such that the subject component is disposed at atarget position.

The metering control module U3 controls the multi-jointed robot 20 suchthat at least one of the liquid medicine bag 15 and the vial 16 istransferred onto the metering apparatus 11A, and then acquires themetering result of the metering apparatus 11A. In addition, the meteringcontrol module U3 controls the multi-jointed robot 20 such that thesyringe 17 is transferred onto the metering apparatus 11B, and thenacquires the metering result of the metering apparatus 11B.

The puncture control module U4 controls the multi-jointed robot 20 suchthat the needle 17 e of the syringe 17 punctures the liquid medicine bag15 or the vial 16. In addition, the puncture control module U4 controlsthe multi-jointed robot 20 such that the inserting length of the needle17 e becomes a value close to a target value.

The removal control module U5 controls the multi-jointed robot 20 suchthat the needle 17 e of the syringe 17 is removed from the liquidmedicine bag 15 or the vial 16.

The reverse control module U6 controls the multi-jointed robot 20 suchthat the rotation unit 50 is reversed upside down by rotating therotation unit 50.

The intake gas control module U7 controls the syringe actuator 30 suchthat a gas is absorbed into the syringe 17 by pulling the plunger 17 c.

The pressure reducing control module U8 controls the syringe actuator 30such that the inner pressure of the vial 16 is decreased by pulling theplunger 17 c.

The suction control module U9 controls the syringe actuator 30 such thatthe fluid in the vial 16 is absorbed into the syringe 17 by pulling theplunger 17 c.

The gas supply control module U10 controls the syringe actuator 30 suchthat the gas in the syringe 17 is injected into the vial 16 by pushingthe plunger 17 c.

The injection control module U11 controls the syringe actuator 30 suchthat the fluid in the syringe 17 is injected into the liquid medicinebag 15 by pushing the plunger 17 c.

With the configurations of the arrangement control module U2, thepuncture control module U4, the reverse control module U6, and thesuction control module U9, the controller 100 can perform, for example,control of the multi-jointed robot 20 such that the vertical relationbetween the vial 16 and the syringe 17 is reversed in a state where thevial 16 containing the fluid is disposed on the lower side of thesyringe 17 and the needle 17 e punctures the vial 16, and control of thesyringe actuator 30 such that the liquid in the vial 16 is absorbed intothe syringe 17 by pulling the plunger 17 c in a state where the vial 16is disposed on the upper side of the syringe 17.

Specifically, after the cylinder body 17 a is held in the cylinder bodyholder 33, the controller 100 can perform control of the multi-jointedrobot 20 such that the vial 16 containing the fluid is disposed on thelower side of the syringe 17, control of the multi-jointed robot 20 suchthat the needle 17 e punctures the vial 16 in a state where the vial 16is disposed on the lower side of the syringe 17, control of themulti-jointed robot 20 such that the vertical relation between the vial16 and the syringe 17 is reversed by rotating the rotation unit 50 in astate where the needle 17 e punctures the vial 16, and control of thesyringe actuator 30 such that the fluid in the vial 16 is absorbed intothe syringe 17 by pulling the plunger 17 c in a state where the vial 16is disposed on the upper side of the syringe 17.

With the configurations of the intake gas control module U7 and the gassupply control module U10, the controller 100 can perform control of thesyringe actuator 30 such that the gas in the syringe 17 is absorbed bypulling the plunger 17 c before the multi-jointed robot 20 is controlledsuch that the needle 17 e punctures the vial 16, and control of thesyringe actuator 30 such that the gas in the syringe 17 is injected intothe vial 16 by pushing the plunger 17 c after the syringe actuator 30 iscontrolled such that the liquid in the vial 16 is absorbed into thesyringe 17 by pulling the plunger 17 c.

When the needle 17 e punctures the vial 16, the controller 100 mayperform control of the multi-jointed robot 20 such that the tip portionof the needle 17 e does not reach the liquid in the vial 16.

With the configuration of the pressure reducing control module U8, thecontroller 100 can perform control of the syringe actuator 30 such thatthe inner pressure of the vial 16 is decreased by pulling the plunger 17c after the multi-jointed robot 20 is controlled such that the needle 17e punctures the vial 16, and before the multi-jointed robot 20 iscontrolled such that the vertical relation between the vial 16 and thesyringe 17 is reversed.

With the configurations of the removal control module U5 and theinjection control module U11, the controller 100 can perform control ofthe multi-jointed robot 20 such that the needle 17 e is removed from thevial 16, control of the multi-jointed robot 20 such that the needle 17 epunctures the liquid medicine bag 15, and control of the syringeactuator 30 such that the fluid in the syringe 17 is injected into theliquid medicine bag 15 by pushing the plunger 17 c.

The controller 100 may control the multi-jointed robot 20 such that thesyringe 17 is handled by one (for example, the multi-jointed arm 22B) ofthe multi-jointed arms 22A and 22B, and the vial 16 is handled by theother one (for example, the multi-jointed arm 22A) of the multi-jointedarms 22A and 22B.

(Medicine Manufacturing Method)

As described above, the controller 100 serves as a fluid transfercontroller, and performs a fluid transfer control method. The medicinemanufacturing system 1 manufactures a medicine by performing the fluidtransfer control method by the controller 100 according to the controlpattern set by the management computer 300. Hereinafter, a specificexample of a medicine manufacturing method performed by the medicinemanufacturing system 1 will be described. Further, since a transfertarget fluid is a raw liquid medicine, a liquid transfer control methodis performed in the medicine manufacturing method, the controller 100serves as a liquid transfer controller. In other words, the fluidtransfer system 1A is used as a liquid transfer system.

As illustrated in FIG. 15, first, the agitation control module U1performs control of agitating the raw liquid medicine (Step S1). Forexample, the agitation control module U1 controls the multi-jointedrobot 20 such that the vial 16 is transferred onto the agitatingapparatus 12 from the tray 14, and controls the agitating apparatus 12such that the vial 16 is oscillated.

Next, the metering control module U3 performs control of metering thevial 16 and the syringe 17 (Step S2). For example, the metering controlmodule U3 controls the multi-jointed robot 20 such that the vial 16 onthe tray 14 is transferred while being gripped by the gripper 23 of themulti-jointed arm 22A, and placed on the metering apparatus 11A. Inaddition, the metering control module U3 controls the multi-jointedrobot 20 such that the cylinder body 17 a of the syringe 17 on the tray14 is transferred while being gripped by the gripper 23 of themulti-jointed arm 22B, and is placed on the metering apparatus 11B withthe needle 17 e set upward. Thereafter, the metering control module U3acquires the metering results of the metering apparatuses 11A and 11B.

Next, the arrangement control module U2 performs control in which thesyringe 17 is held in the cylinder body holder 33 (Step S2). Forexample, the arrangement control module U2 controls the multi-jointedrobot 20 such that the cylinder body 17 a of the syringe 17 on themetering apparatus 11B is transferred toward the syringe actuator 30while being gripped by the gripper 23 of the multi-jointed arm 22B, andheld in the cylinder body holder 33 (see FIG. 7).

Next, the arrangement control module U2 performs control in which thevial 16 is disposed on the lower side of the syringe 17 (Step S3, seethe state (a) of FIG. 16). For example, the arrangement control moduleU2 controls the multi-jointed robot 20 such that the vial 16 on theagitating apparatus 12 is transferred toward the syringe actuator 30while being gripped by the gripper 23 of the multi-jointed arm 22A, andheld in the vial holding portion 34 (see FIG. 7).

In a case where the vial holding portion 34 is positioned on the lowerside of the cylinder body holder 33 when the vial 16 is held in the vialholding portion 34, the vial 16 is disposed on the lower side of thesyringe 17. In a case where the vial holding portion 34 is positioned onthe upper side of the cylinder body holder 33 when the vial 16 is heldin the vial holding portion 34, the vial 16 is disposed on the upperside of the syringe 17. In this case, it is necessary to perform controlof reversing the vertical relation between the vial 16 and the syringe17 by the reverse control module U6. This control may be performedbefore or after the vial 16 is held in the vial holding portion 34.

Further, when the vial 16 is disposed, the rotation unit 50 may beobliquely disposed with respect to the vertical direction. In otherwords, the vial 16 may be not disposed immediately below the syringe 17,and may be disposed obliquely on the lower side of the syringe 17.

Next, the intake gas control module U7 performs control in which the gasis absorbed into the syringe 17 (Step S5, see the state (b) of FIG. 16).The intake gas control module U7 controls the syringe actuator 30 suchthat the gas is absorbed into the syringe 17 by pulling the plunger 17c. At this time, a volume of the gas to be absorbed into the syringe 17may be substantially matched with a predetermined volume of the liquidto be absorbed from inside the vial 16. Therefore, in Step S10 describedbelow, the excessive increase in the pressure in the vial 16 issuppressed. Further, the substantial matching herein means that thevolume of the gas to be absorbed into the intake gas control module U7is 90% to 100% of the predetermined volume of the liquid to be absorbedfrom inside the vial 16.

Next, the puncture control module U4 performs control in which theneedle 17 e punctures the vial 16 (Step S6, see the state (c) of FIG.16). For example, the puncture control module U4 controls themulti-jointed robot 20 such that the needle 17 e punctures the vial 16by approaching the vial 16 toward the syringe 17 while the vial 16 isgripped by the gripper 23 of the multi-jointed arm 22A. In addition, thepuncture control module U4 controls the multi-jointed robot 20 such thatthe tip portion of the needle 17 e does not reach the liquid in the vial16.

Next, the pressure reducing control module U8 performs control in whichthe pressure in the vial 16 is reduced (Step S7, see the state of (d)FIG. 16). The pressure reducing control module U8 controls the syringeactuator 30 such that the inner pressure of the vial 16 is reduced bypulling the plunger 17 c.

Next, the reverse control module U6 performs control in which thevertical relation between the vial 16 and the syringe 17 is reversed(that is, the vial 16 is positioned on the upper side of the syringe 17)(Step S8, see the state (e) of FIG. 16). The reverse control module U6,for example, controls the multi-jointed robot 20 such that the verticalrelation between the vial 16 and the syringe 17 is reversed by rotatingthe rotation unit 50 by the multi-jointed arm 22B. Specifically, thereverse control module U6 rotates the rotation unit 50 by sequentiallyperforming the following control.

i) The multi-jointed robot 20 is controlled such that the fingerportions 23 a and 23 b of the gripper 23 are engaged with the engaginggrooves 52 a and 53 a.

ii) The multi-jointed robot 20 is controlled such that the rotation unit50 is pushed toward the rotation mechanism 40 by the gripper 23.Therefore, the rotation unit 50 is moved along the rotation center Ax2(approach the rotation mechanism 40), and the rotation mechanism 40 isset to the allowing state.

iii) The gripper 23 is rotated, and the rotation unit 50 is rotatedaccording to the rotation.

iv) The multi-jointed robot 20 is controlled such that the rotation unit50 is pulled back from the rotation mechanism 40 by the gripper 23.Therefore, the rotation unit 50 is moved along the rotation center Ax2(separate from the rotation mechanism 40), and the rotation mechanism 40is set to the regulating state.

Next, the suction control module U9 performs control in which a rawliquid medicine LM in the vial 16 is absorbed into the syringe 17 (StepS9, see the states (f) and (g) of FIG. 16). The suction control moduleU9 controls the syringe actuator 30 such that the raw liquid medicine LMin the vial 16 is absorbed into the syringe 17 by pulling the plunger 17c.

Next, the gas supply control module U10 performs control in which thegas in the syringe 17 is injected into the vial 16 (Step S10, see thestate (h) of FIG. 16). The gas supply control module U10 controls thesyringe actuator 30 such that the gas in the syringe 17 is injected intothe vial 16 by pushing the plunger 17 c. At this time, a volume of thegas to be injected into the vial 16 may be subsequently matched with avolume of the raw liquid medicine LM absorbed in the syringe 17 in StepS9. Therefore, the excessive increase in the pressure in the vial 16 issuppressed. Further, the substantial matching herein means that thevolume of the gas to be injected into the vial 16 is 90% to 100% of thevolume of the raw liquid medicine LM absorbed in the syringe 17.

Next, the removal control module U5 performs control in which the needle17 e is removed from the vial 16 (Step S11, see the state (i) of FIG.16). The removal control module U5 controls the multi-jointed robot 20such that the needle 17 e is removed from the vial 16 by setting thevial 16 apart from the syringe 17 while the vial 16 is gripped by thegripper 23 of the multi-jointed arm 22A.

Next, the arrangement control module U2 performs control in which thevial 16 is returned to the tray 14 (Step S12). For example, thearrangement control module U2 controls the multi-jointed robot 20 suchthat the vial 16 is taken out of the vial holding portion 34 while beinggripped by the gripper 23 of the multi-jointed arm 22A, and transferredonto the tray 14.

Next, the metering control module U3 performs control in which thesyringe 17 is metered (Step S13). For example, the metering controlmodule U3 controls the multi-jointed robot 20 such that the syringe 17is taken out of the cylinder body holder 33 and transferred while thecylinder body 17 a held in the cylinder body holder 33 is gripped by thegripper 23 of the multi-jointed arm 22B, and is placed on the meteringapparatus 11B with the needle 17 e set upward. Thereafter, the meteringcontrol module U3 acquires the metering result of the metering apparatus11B.

Next, the arrangement control module U2 performs control in which thesyringe 17 is held in the cylinder body holder 33 again (Step S14). Forexample, the arrangement control module U2 controls the multi-jointedrobot 20 such that the cylinder body 17 a of the syringe 17 on themetering apparatus 11B is transferred toward the syringe actuator 30while being gripped by the gripper 23 of the multi-jointed arm 22B, andheld in the cylinder body holder 33.

Next, the reverse control module U6 performs control in which thesyringe 17 is vertically reversed (Step S15). For example, the reversecontrol module U6 controls the multi-jointed robot 20 such that theneedle 17 e faces downward by rotating the rotation unit 50 by themulti-jointed arm 22B. The sequence of rotating the rotation unit 50 isthe same as that of Step S8.

Next, the metering control module U3 performs control in which theliquid medicine bag 15 is metered (Step S16). For example, the meteringcontrol module U3 controls the multi-jointed robot 20 such that theliquid medicine bag 15 on the tray 14 is transferred while being grippedby the gripper 23 of the multi-jointed arm 22A, and placed on themetering apparatus 11A. Thereafter, the metering control module U3acquires the metering result of the metering apparatus 11A.

Next, the arrangement control module U2 performs control in which theliquid medicine bag 15 is disposed on the lower side of the syringe 17(Step S17). For example, the arrangement control module U2 controls themulti-jointed robot 20 such that the liquid medicine bag 15 on themetering apparatus 11A is transferred while being gripped by the gripper23 of the multi-jointed arm 22A, and disposed on the lower side of thesyringe 17.

Next, the puncture control module U4 performs control in which theneedle 17 e punctures the liquid medicine bag 15 (Step S18). Forexample, the puncture control module U4 controls the multi-jointed robot20 such that the needle 17 e punctures the liquid medicine bag 15 byapproaching the liquid medicine bag 15 toward the syringe 17 while theliquid medicine bag 15 is gripped by the gripper 23 of the multi-jointedarm 22A.

Next, the injection control module U11 performs control in which the rawliquid medicine in the syringe 17 is injected into the liquid medicinebag 15 (Step S19). The injection control module U11 controls the syringeactuator 30 such that the raw liquid medicine in the syringe 17 isinjected into the liquid medicine bag 15 by pushing the plunger 17 c.

Next, the removal control module U5 performs control in which the needle17 e is removed from the liquid medicine bag 15 (Step S20). For example,the removal control module U5 controls the multi-jointed robot 20 suchthat the needle 17 e is removed from the liquid medicine bag 15 bysetting the liquid medicine bag 15 apart from the syringe 17 while theliquid medicine bag 15 is gripped by the gripper 23 of the multi-jointedarm 22A.

Next, the metering control module U3 performs control in which theliquid medicine bag 15 is metered (Step S21). For example, the meteringcontrol module U3 controls the multi-jointed robot 20 such that theliquid medicine bag 15 is transferred while being gripped by the gripper23 of the multi-jointed arm 22A, and placed on the metering apparatus11A. Thereafter, the metering control module U3 acquires the meteringresult of the metering apparatus 11A.

In a case where a plurality of types of the raw liquid medicines eachcontained in a plurality of vials 16 are used, the above processes arerepeatedly performed for each vial 16. From those described above, themanufacturing of the medicine is completed. Further, the sequence ofSteps S1 to S21 can be appropriately changed. In addition, a pluralityof steps may be performed at the same time.

Various types of control parameters may be changed according to thetypes of the raw liquid medicines. As the control parameter, the amountof the gas to be absorbed in Step S5, the inserting length of the needle17 e in Step S6, the pulling amount of the plunger 17 c in Step S7, thepulling amount/speed of the plunger 17 c in Step S9, and a volume of thegas to be injected into the vial 16 in Step S10 are exemplified. As aspecific method of changing various types of the control parametersaccording to the types of the raw liquid medicines, a database ispreviously created by associating the types of the raw liquid medicinesand the control parameters, and the database is referred by therespective controllers. As a storage place of the database, the storage114 of the PLC 110 or the storage of the management computer 300 isexemplified.

According to the medicine manufacturing method described above, throughcontrol of the multi-jointed robot 20 and the syringe actuator 30, thetransfer work of the raw liquid medicine from the vial 16 to the syringe17 can be automated, and the transfer work of the raw liquid medicinefrom the syringe 17 to the liquid medicine bag 15 can also be automated.Therefore, the liquid transfer work can be automated while suppressingan increase in size of the facility.

The liquid transfer control method from the vial 16 to the syringe 17includes control of the multi-jointed robot 20 such that the vial 16containing the liquid is disposed on the lower side of the syringe 17,control of the multi-jointed robot 20 such that the needle 17 e of thesyringe 17 punctures the vial 16 in a state where the vial 16 isdisposed on the lower side of the syringe 17, control of themulti-jointed robot 20 such that the vertical relation between the vial16 and the syringe 17 is reversed in a state where the needle 17 epunctures the vial 16, and control of the syringe actuator 30 such thatthe raw liquid medicine in the vial 16 is absorbed into the syringe 17by pulling the plunger 17 c in a state where the vial 16 is disposed onthe upper side of the syringe 17.

According to the method, the needle 17 e punctures the upper portion ofthe vial 16 in a state where the raw liquid medicine is collected in thelower portion of the vial 16 and an air layer is formed in the upperportion of the vial 16. Therefore, in the middle of at least thepuncturing, the air layer in the vial 16 communicates with the inside ofthe syringe 17. Before the puncturing, in a case where the innerpressure of the vial 16 is higher than the inner pressure of the syringe17, the inner pressure of the vial 16 is reduced by the communicationbetween the air layer in the vial 16 and the inside of the syringe 17.Thereafter, in a state where the vertical relation between the vial 16and the syringe 17 is reversed to gather the raw liquid medicine towardthe needle 17 e, the raw liquid medicine in the vial 16 is absorbed intothe syringe 17. As described above, since the inner pressure of the vial16 is reduced at the time of the puncturing, a leakage of the raw liquidmedicine from the punctured portion of the needle 17 e is suppressedwhen the raw liquid medicine is absorbed into the syringe 17. Since theraw liquid medicine is absorbed in a state where the liquid is gatheredtoward the needle 17 e, a more raw liquid medicine can be efficientlyabsorbed into the vial 16. Therefore, the transfer work of the rawliquid medicine can be automated to transfer the raw liquid medicinewith efficiency from inside the vial 16 into the syringe 17 whilesuppressing the leakage of the raw liquid medicine.

The liquid transfer control method further includes control of thesyringe actuator 30 such that the gas is absorbed into the syringe 17 bypulling the plunger 17 c before the multi-jointed robot 20 is controlledto make the needle 17 e puncture the vial 16, and control of the syringeactuator 30 such that the gas in the syringe 17 is injected into thevial 16 by pushing the plunger 17 c after the syringe actuator 30 iscontrolled to absorb the raw liquid medicine in the vial 16 into thesyringe 17 by pulling the plunger 17 c.

Therefore, a negative pressure generated in the vial 16 when the rawliquid medicine is absorbed is reduced by injecting the gas in thesyringe 17 into the vial 16. The leakage of the raw liquid medicine whenthe needle 17 e is removed from the vial 16 is suppressed by reducingthe negative pressure in the vial 16. Therefore, the leakage of the rawliquid medicine can be more suppressed in the automated transfer work ofthe raw liquid medicine. However, it is not essential that the gas inthe syringe 17 is injected into the vial 16 after the raw liquidmedicine in the vial 16 is absorbed into the syringe 17.

The liquid transfer control method controls the multi-jointed robot 20such that the tip portion of the needle 17 e does not reach the rawliquid medicine in the vial 16 when the needle 17 e punctures the vial16. Therefore, since the tip portion of the needle 17 e remains in theair layer at the time of the puncturing, the inner pressure of the vial16 is securely reduced. Therefore, the leakage of the raw liquidmedicine can be more reduced in the automated transfer work of the rawliquid medicine. Further, there is a need to position the syringe 17 andthe vial 16 with high accuracy in order to securely make the tip portionof the needle 17 e remain in the air layer of the vial 16. Therefore,the characteristic of the multi-jointed robot 20 excellent in stabilityof the positioning can be more effectively utilized compared to manualwork. However, it is not essential that the tip portion of the needle 17e does not reach the raw liquid medicine in the vial 16 when the needle17 e punctures the vial 16.

The liquid transfer control method further includes control of thesyringe actuator 30 such that the inner pressure of the vial 16 isreduced by pulling the plunger 17 c after the multi-jointed robot 20 iscontrolled to make the needle 17 e puncture the vial 16, and before themulti-jointed robot 20 is controlled to make the vertical relationbetween the vial 16 and the syringe 17 reversed.

Therefore, in a state where the tip portion of the needle 17 e remainsin the air layer, the inside of the vial 16 can be more reduced inpressure. Therefore, the leakage of the raw liquid medicine can be moresuppressed in the automated transfer work of the raw liquid medicine.However, it is not essential that the inner pressure of the vial 16 isreduced by pulling the plunger 17 c before the vertical relation betweenthe vial 16 and the syringe 17 is reversed.

Second Embodiment

Subsequently, the liquid transfer work using a liquid transfer system 1Baccording to a second embodiment will be described while mainlyreferring to FIGS. 17 and 18. The liquid transfer system 1B has the sameconfiguration as the fluid transfer system 1A according to the firstembodiment (see FIG. 1), but is different in the content of the transferwork of the raw liquid medicine from the vial 16 to the syringe 17. Inthe following, the description will be made focusing on the difference.

First, when the liquid transfer work using the liquid transfer system 1Baccording to the second embodiment starts, Steps S1 to S9 are performedsimilarly to the first embodiment as illustrated in FIG. 17. In Step S9,when the suction control module U9 performs control in which the rawliquid medicine LM in the vial 16 is absorbed into the syringe 17, thesuction control module U9 controls the syringe actuator 30 such that apart (for example, about 1/20 to ⅓) of the raw liquid medicine LM in thevial 16 is absorbed into the syringe 17 by pulling the plunger 17 c (seethe state (a) of FIG. 18).

Next, the puncture control module U4 performs control in which the tipportion of the needle 17 e is positioned on the upper side from a liquidlevel of the raw liquid medicine in the vial 16 (Step S22, see the state(b) of FIG. 18). The puncture control module U4 controls themulti-jointed robot 20 such that the vial 16 gripped by the gripper 23of the multi-jointed arm 22A more approaches the syringe 17, and the tipportion of the needle 17 e protrudes toward the upper side from theliquid level.

Next, the gas supply control module U10 performs control in which thegas in the syringe 17 is injected into the vial 16 (Step S23, see thestate (c) of FIG. 18). The gas supply control module U10 controls thesyringe actuator 30 such that the gas in the syringe 17 is injected intothe vial 16 by pushing the plunger 17 c. At this time, the volume of thegas to be injected into the vial 16 may be subsequently matched with thevolume of the raw liquid medicine LM absorbed into the syringe 17 inStep S9. Therefore, the excessive increase in the pressure in the vial16 is suppressed. Further, the substantial matching herein means thatthe volume of the gas to be injected into the vial 16 is 90% to 100% ofthe volume of the raw liquid medicine LM absorbed in the syringe 17.

Next, the removal control module U5 performs control in which a part ofthe needle 17 e is removed from the vial 16 (Step S24, see the state (d)of FIG. 18). The removal control module U5 controls the multi-jointedrobot 20 such that the needle 17 e is partly removed from the vial 16 bysetting the vial 16 apart from the syringe 17 while the vial 16 isgripped by the gripper 23 of the multi-jointed arm 22A. Specifically,the removal control module U5 controls the multi-jointed robot 20 suchthat the tip portion of the needle 17 e is positioned in the vial 16 andin the vicinity of the cap 16 c.

Next, the suction control module U9 performs control in which the rawliquid medicine LM remaining in the vial 16 is absorbed into the syringe17 (Step S25, see the state (e) of FIG. 18). The suction control moduleU9 controls the syringe actuator 30 such that the raw liquid medicine LMremaining in the vial 16 is absorbed into the syringe 17 by pulling theplunger 17 c. Therefore, all the raw liquid medicine LM in the vial 16is transferred into the syringe 17 through the needle 17 e. In thefollowing, Steps S11 to S21 are performed similarly to the firstembodiment.

According to the medicine manufacturing method described above, theliquid transfer work can be automated while suppressing an increase insize of the facility similarly to the first embodiment.

The liquid transfer control method according to the second embodiment asdescribed above includes: (A1) controlling the multi-jointed robot 20such that the needle 17 e of the syringe 17 punctures the cap 16 c ofthe vial 16 storing the raw liquid medicine LM; after the controldescribed in A1, (B1) controlling the syringe actuator 30 such that theair in the syringe 17 is sent into the vial 16 by pushing the plunger 17c in a state where the vial 16 is positioned on the upper side of thesyringe 17 and the tip portion of the needle 17 e is positioned on theupper side from the raw liquid medicine LM in the vial 16; and after thecontrol described in B1, (C1) controlling the syringe actuator 30 suchthat the raw liquid medicine LM in the vial 16 is absorbed through theneedle 17 e by pulling the plunger 17 c in a state where the tip portionof the needle 17 e is positioned in the liquid in the vial 16.

By the way, when the entire amount of the raw liquid medicine LM in thevial 16 is transferred to the syringe 17 at a time, the air in thesyringe 17 may be unintentionally transferred into the vial 16 by adifference in pressure between the vial 16 and the syringe 17. When theair passes through the raw liquid medicine LM in the vial 16, the rawliquid medicine LM foams, so that it may be difficult to read the scaleof an accurate amount of the raw liquid medicine LM. However, accordingto the method of the second embodiment, the entire amount of the rawliquid medicine LM in the vial 16 is not transferred to the syringe 17at a time, but after a part of the raw liquid medicine LM in the vial 16is transferred to the syringe 17, the air in the syringe 17 is sent intothe air layer in the vial 16. Therefore, before an unintended movementof the air is generated from the syringe 17 to the vial 16, the air inthe syringe 17 is returned into the vial 16, and at this time, the airin the syringe 17 does not pass through the raw liquid medicine LM inthe vial 16. Therefore, the foaming of the raw liquid medicine LM isextremely suppressed. As a result, an accurate amount of the raw liquidmedicine LM can be leaked from the vial 16 by the syringe 17.

Third Embodiment

Subsequently, the liquid transfer work using a liquid transfer system 1Caccording to a third embodiment will be mainly described while mainlyreferring to FIGS. 19 and 20. The liquid transfer system 1C is differentin that the vial holding portion 34 is not provided and the vial 16 isheld by the finger portions 23 a and 23 b of the gripper 23 in the fluidtransfer system 1A according to the first embodiment (see FIG. 19), andthe functional block of the controller 100 is also different (see FIG.20). In the following, the description will be made focusing on thedifferences.

As illustrated in FIG. 19, since the vial 16 is held by the fingerportions 23 a and 23 b of the gripper 23, the orientation of the vial 16can be freely changed by the gripper 23. Therefore, the orientation ofthe vial 16 with respect to the syringe 17 is determined by at least oneof the driving of the gripper 23 and the rotation of the rotation unit50 in the syringe actuator 30. The gripper 23 included in themulti-jointed arm 22A on one side may change the orientation of the vialwhile gripping the vial 16, and the gripper 23 included in themulti-jointed arm 22B on the other side may change the orientation ofthe syringe 17 while gripping the syringe 17.

As illustrated in FIG. 20, the controller 100 includes an imagingcontrol module U12 and an orientation control module U13 as thefunctional block. The imaging control module U12 controls the cameras13A and 13B such that the cameras 13A and 13B take images at apredetermined timing (for example, the tip portion of the needle 17 e istaken). The orientation control module U13 controls at least one of themulti-jointed robot 20 and the syringe actuator 30 such that the vial 16takes an orientation with respect to the syringe 17. Specifically, thecontroller 100 can perform control of at least one of the multi-jointedrobot 20 and the syringe actuator 30 such that the needle 17 e isinclined with respect to the cap 16 c of the vial 16 by changing theorientation of at least one of the vial 16 and the syringe 17 by theorientation control module U13.

Subsequently, the liquid transfer work using the liquid transfer system1C according to the third embodiment will be described. When thetransfer work starts, Steps S1 to S21 illustrated in FIG. 15 areperformed similarly to the first embodiment. In particular, in the thirdembodiment, after the needle 17 e punctures the cap 16 c of the vial 16in Step S6 and when any one of Steps S6 to S9 is performed, theorientation of the vial 16 with respect to the syringe 17 is adjustedsuch that the needle 17 e is inclined with respect to the cap 16 c ofthe vial 16 (see FIG. 19).

According to the medicine manufacturing method described above,similarly to the first embodiment, the liquid transfer work can beautomated while suppressing an increase in size of the facility.

The liquid transfer control method according to the third embodiment asdescribed above includes: (A2) controlling the multi-jointed robot 20such that the needle 17 e of the syringe punctures the cap 16 c of thevial 16 storing the raw liquid medicine LM; after the control describedin A2, (B2) controlling the syringe actuator 30 such that the raw liquidmedicine LM in the vial 16 is absorbed through the needle 17 e bypulling the plunger 17 c; and after the control described in A2, (C2)controlling the multi-jointed robot 20 such that the needle 17 e isinclined with respect to the cap 16 c of the vial 16 by changing theorientation of at least one of the vial 16 and the syringe 17.

According to the method of the third embodiment as described above,since the needle 17 e is inclined with respect to the cap 16 c of thevial 16, the tip portion of the needle 17 e approaches the cap 16 c andis positioned in the vicinity of the inner wall of the vial 16.Therefore, a more amount of the raw liquid medicine LM collected in thevicinity of the cap 16 c of the vial 16 can be absorbed by the syringe17 compared to the case where the raw liquid medicine LM in the vial 16is absorbed by the syringe 17 in a state where the needle 17 e isdisposed vertically with respect to the cap 16 c. Therefore, it ispossible to use the raw liquid medicine LM in the vial 16 without waste.

Hitherto, the description has been made about the embodiments, but theinvention is not limited to the above-mentioned embodiments, and variouschanges can be made in a scope without departing from the spirit of theinvention. For example, the application of the fluid transfer system 1Ais not limited to the medicine manufacturing system 1, and varioussystems which necessitate a manual liquid transfer in a biologicalfield, a medical field or the like. As a specific example, a culturesystem which necessitates a culture solution transfer is exemplified.

In the second embodiment, according to information on the type of theraw liquid medicine LM stored in the vial 16, (i) Steps S6 to S9 and S22to S25 illustrated in FIG. 17 may be sequentially performed, (ii) StepsS6 to S9 illustrated in FIG. 17 may be sequentially performed exceptSteps S22 to S25. In the case of the latter (ii), in Step S9, thesuction control module U9 controls the syringe actuator 30 such that allof the raw liquid medicine LM in the vial 16 is absorbed into thesyringe 17 by pulling the plunger 17 c.

The information on the type of the raw liquid medicine LM may be storedin a storage as a database in association with information on thecharacteristic of the raw liquid medicine LM. As the storage for storingthe database, as described above, the storage 114 of the PLC 110 (seeFIG. 13) or the storage of the management computer 300 (see FIG. 1) isexemplified.

As the information on the characteristic of the raw liquid medicine LM,a viscosity is exemplified. When the viscosity of the raw liquidmedicine LM is high, even in a case where an absorption speed (a pullingspeed of the plunger 17 c) of the raw liquid medicine LM in the vial 16by the syringe 17 is small, foam is easily generated in the raw liquidmedicine LM and the generated foam is hardly removed. In addition, in acase where the viscosity of the raw liquid medicine LM is high, Steps S6to S9 and S22 to S25 illustrated in FIG. 17 may be sequentiallyperformed. On the other hand, when the viscosity of the raw liquidmedicine LM is low, even in a case where the absorption speed (thepulling speed of the plunger 17 c) of the raw liquid medicine LM in thevial 16 by the syringe 17 is large, foam is hardly generated in the rawliquid medicine LM and the generated foam is easily removed even whenfoam is generated. Then, in a case where the viscosity of the raw liquidmedicine LM is low, Steps S6 to S9 illustrated in FIG. 17 may besequentially performed except Step S22 to S25. In this way, the controlparameter may be associated according to the characteristic (theviscosity) of the raw liquid medicine LM. In the database, theinformation on the type of the raw liquid medicine LM and the controlparameter may be directly associated.

As another control parameter to be changed according to the type of theraw liquid medicine LM, the orientation of the vial 16 or the syringe 17in Steps S9 and S25 is exemplified in addition to the absorption speed.When the orientation of the vial 16 is changed to make the cap 16 cinclined with respect to the horizontal plane, the raw liquid medicineLM in the vial 16 is collected on the inclined side of the cap 16 c, sothat a more amount of the collected raw liquid medicine LM can beabsorbed by the syringe 17. When the tip portion of the needle 17 e isinclined upward and the orientation of the syringe 17 is changed to makethe syringe 17 inclined with respect to the horizontal plane, the rawliquid medicine LM absorbed into the syringe 17 is transferred along theinner surface of the cylinder body 17 a, so that foam is hardlygenerated in the absorbed raw liquid medicine LM.

As another control parameter to be changed according to the type of theraw liquid medicine LM, a rest time after a predetermined amount of theraw liquid medicine LM in the vial 16 is absorbed by the syringe 17 isexemplified.

In the third embodiment, the tilted surface TS in the tip portion of theneedle 17 e may enter a state of approaching an inner wall surface inthe vial 16 while facing the inner wall surface in the vial 16 (see FIG.19). The tilted surface TS of the needle 17 e may face any area in theinner wall surface in the vial 16 as long as the cap 16 c ishorizontally kept. The tilted surface TS of the needle 17 e may face anarea on the lower side of the inner wall surface of the inclined vial 16as long as the cap 16 c is inclined with respect to the horizontalplane. In this case, since the tilted surface TS of the needle 17 efaces a place where the raw liquid medicine LM is easily collected inthe vial 16, a more amount of the raw liquid medicine LM collected inthe vicinity of the cap 16 c of the vial 16 can be securely absorbed bythe syringe 17.

In consideration of that the rotation unit 50 rotates about the rotationcenter Ax2 as the center axis, in the third embodiment, the syringe 17may be attached to the rotation unit 50 such that a direction ofalignment of the tip portion of the needle 17 e in the tilted surface TSand the base end of the needle 17 e in the tilted surface TS becomessubsequently equal to the radius direction with the rotation center Ax2as the center. In this case, the tilted surface TS of the needle 17 eeasily faces the area positioned on the lower side in the inner wallsurface in the inclined vial 16. Alternatively, the syringe actuator 30may be configured such that the rotation unit 50 can be rotated aboutthe rotation shaft perpendicular to the rotation center Ax2.

In the third embodiment, when the orientation of the vial 16 withrespect to the syringe 17 is adjusted, the image processing apparatus200 may process the images taken by the cameras 13A and 13B and theorientation control module U13 may control at least one of themulti-jointed robot 20 and the syringe actuator 30 based on theprocessing result. In this case, the liquid transfer system 1C canautomatically determine the orientation of the vial 16 or the syringe17.

In the third embodiment, the orientation of the vial 16 with respect tothe syringe 17 may be changed while the raw liquid medicine LM in thevial 16 is absorbed by the syringe 17. Specifically, at least one of thevial 16 and the syringe 17 may be changed in its slope while pulling theplunger 17 c. In this case, the raw liquid medicine LM can beefficiently absorbed according to an absorbed amount of the raw liquidmedicine LM by the syringe 17 (that is, according to a remaining amountof the raw liquid medicine LM in the vial 16).

Indeed, the novel devices and methods described herein may be embodiedin a variety of other forms; furthermore, various omissions,substitutions and changes in the form of the devices and methodsdescribed herein may be made without departing from the spirit of theinventions. The accompanying claims and their equivalents are intendedto cover such forms or modification as would fall within the scope andspirit of the inventions.

Certain aspects, advantages, and novel features of the embodiment havebeen described herein. It is to be understood that not necessarily allsuch advantages may be achieved in accordance with any particularembodiment of the invention. Thus, the invention may be embodied orcarried out in a manner that achieves or optimizes one advantage orgroup of advantages as taught herein without necessarily achieving otheradvantages as may be taught or suggested herein.

What is claimed is:
 1. A robot system comprising: a multi-jointed robot;a syringe actuator configured to pull and push a plunger of a syringehaving a needle; and a controller configured to control themulti-jointed robot to handle a vessel storing a liquid and the syringe,and to control the syringe actuator, wherein the controller comprising afirst control module configured to control the multi-jointed robot suchthat the needle of the syringe punctures a cap of the vessel, a secondcontrol module configured to control the syringe actuator such that aliquid in the vessel is absorbed through the needle by pulling theplunger after the first control module controls the multi-jointed robot,and a third control module configured to control the multi-jointed robotsuch that the needle is inclined with respect to the cap of the vesselby changing an orientation of at least one of the vessel and the syringeafter the first control module controls the multi-jointed robot.
 2. Therobot system according to claim 1, wherein a tip portion of the needlehas a tilted surface that is inclined with respect to an extendingdirection of the needle, and wherein the third control module causes thetilted surface of the needle to approach a wall surface of the vesselwhile facing the wall surface of the vessel when operating themulti-jointed robot to change the orientation of at least one of thevessel and the syringe.
 3. The robot system according to claim 2,further comprising: an imaging apparatus configured to take an image ofan orientation the tilted surface of the needle, wherein the controllerfurther comprising a fourth control module configured to control theimaging apparatus to take an image of the orientation of the tiltedsurface of the needle before the first control module controls themulti-jointed robot, the third control module causes the tilted surfaceof the needle to approach the wall surface of the vessel while facingthe wall surface of the vessel based on an image taken by the control ofthe fourth control module on the imaging apparatus when operating themulti-jointed robot to change the orientation of at least one of thevessel and the syringe.
 4. The robot system according to claim 1,wherein the multi-jointed robot includes two multi-jointed arms, whereinthe third control module controls the multi-jointed robot to cause oneof the multi-jointed arms to change the orientation of the vessel, andcontrols the multi-jointed robot to cause the other one of themulti-jointed arms to change the orientation of the syringe.
 5. Therobot system according to claim 2, wherein the multi-jointed robotincludes two multi-jointed arms, wherein the third control modulecontrols the multi-jointed robot to cause one of the multi-jointed armsto change the orientation of the vessel, and controls the multi-jointedrobot to cause the other one of the multi-jointed arms to change theorientation of the syringe.
 6. The robot system according to claim 3,wherein the multi-jointed robot includes two multi-jointed arms, whereinthe third control module controls the multi-jointed robot to cause oneof the multi-jointed arms to change the orientation of the vessel, andcontrols the multi-jointed robot to cause the other one of themulti-jointed arms to change the orientation of the syringe.
 7. Therobot system according to claim 4, wherein the controller controls themulti-jointed robot such that one of the multi-jointed arms serves asthe syringe actuator.
 8. The robot system according to claim 5, whereinthe controller controls the multi-jointed robot such that one of themulti-jointed arms serves as the syringe actuator.
 9. The robot systemaccording to claim 6, wherein the controller controls the multi-jointedrobot such that one of the multi-jointed arms serves as the syringeactuator.
 10. A liquid transfer controller which controls amulti-jointed robot and a syringe actuator configured to pull and push aplunger of a syringe having a needle, comprising: a first control moduleconfigured to control the multi-jointed robot such that the needle ofthe syringe punctures a cap of a vessel storing a liquid; a secondcontrol module configured to operate the syringe actuator such that theliquid in the vessel is absorbed through the needle by pulling theplunger after the first control module controls the multi-jointed robot;and a third control module configured to operate the multi-jointed robotsuch that the needle is inclined with respect to the cap of the vesselby changing an orientation of at least one of the vessel and the syringeafter the first control module controls the multi-jointed robot.
 11. Theliquid transfer controller according to claim 10, wherein a tip portionof the needle has a tilted surface that is inclined with respect to anextending direction of the needle, and wherein the third control modulecauses the tilted surface of the needle to approach a wall surface ofthe vessel while facing the wall surface of the vessel when operatingthe multi-jointed robot to change the orientation of at least one of thevessel and the syringe.
 12. The liquid transfer controller according toclaim 11, further comprising: a fourth control module configured tooperate the imaging apparatus to take an image of the orientation of thetilted surface of the needle, wherein the third control module causesthe tilted surface of the needle to approach the wall surface of thevessel while facing the wall surface of the vessel based on an imagetaken by the control of the fourth control module on the imagingapparatus when operating the multi-jointed robot to change theorientation of at least one of the vessel and the syringe.
 13. A liquidtransfer control method which controls a multi-jointed robot and asyringe actuator configured to pull and push a plunger of a syringehaving a needle, comprising: (A) controlling the multi-jointed robotsuch that the needle of the syringe punctures a cap of a vessel storinga liquid; after the control described in A, (B) controlling the syringeactuator such that the liquid in the vessel is absorbed through theneedle by pulling the plunger; and after the control described in A, (C)controlling the multi-jointed robot such that the needle is inclinedwith respect to the cap of the vessel by changing an orientation of atleast one of the vessel and the syringe.
 14. The liquid transfer controlmethod according to claim 13, wherein a tip portion of the needle has atilted surface that is inclined with respect to an extending directionof the needle, and wherein in the control described in C, the tiltedsurface of the needle approaches a wall surface of the vessel whilefacing the wall surface of the vessel when the multi-jointed robot isoperated to change the orientation of at least one of the vessel and thesyringe.
 15. The liquid transfer control method according to claim 14,further comprising: before the control described in A, (D) controllingthe imaging apparatus to take an image of the orientation of the tiltedsurface of the needle, wherein in the control described in C, the tiltedsurface of the needle approaches the wall surface of the vessel whilefacing the wall surface of the vessel based on an image taken by thecontrol of the imaging apparatus in the control described in D when themulti-jointed robot is operated to change the orientation of at leastone of the vessel and the syringe.
 16. A medicine manufacturing methodwhich controls a multi-jointed robot and a syringe actuator configuredto pull and push a plunger of a syringe having a needle, comprising: (A)controlling the multi-jointed robot such that the needle of the syringepunctures a cap of a first vessel storing a first raw liquid of themedicine; after the control described in A, (B) controlling the syringeactuator such that a liquid in the first vessel is absorbed through theneedle by pulling the plunger; after the control described in A, (C)controlling the multi-jointed robot such that the needle is inclinedwith respect to the cap of the first vessel by changing an orientationof at least one of the first vessel and the syringe; and after thecontrol described in B and C, (D) controlling the multi-jointed robotsuch that the needle is removed from the first vessel and the needlepunctures the second vessel to inject the first raw liquid in thesyringe into a second vessel storing a second raw liquid of themedicine.